The parade included a flypast of RAF Typhoons in a diamond formation, and planes also spelt out the number 60 and the letters ER – for Elizabeth Regina, referring to the Latin word for Queen.

The Queen has a personal insight into the sacrifices made by the Forces, as was reflected in her speech praising their service.

Speaking to the crowd from the grandstand, she made reference to the fact that three generations of her family have served with the Forces.

Philip was a wartime naval officer, Andrew served in the Falklands, and Princes William and Harry are currently pilots in the RAF and Army Air Corps respectively.

Her Majesty said: "It is a tradition of very long standing that the sovereign, and members of the royal family, are intimately associated with the armed forces and have been proud to serve in all three services.

"We are very proud of the selfless service, and sacrifices made by servicemen and women and their families in recent years.

"It is very gratifying to celebrate and take pride in successful achievements, but the real test of character is the ability to maintain morale and a positive spirit in bad times as well as when things are going well."

Her speech was greeted with three cheers by the servicemen and women, who thrust their caps into the air as they shouted hooray for the person to whom they owe their ultimate allegiance.